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[Web runtime] Add OpenAPI 3.1 export from the capability registry (#1565)

- Add `lib/openapi.js`: maps `CapabilityRegistry.list()` and rosidl introspection into an OpenAPI 3.1 document via `buildOpenApiDocument(capabilities, {title, basePath})`. CLI-only, not part of the `rclnodejs/web/server` API; lives in `lib/`, not `lib/runtime/`, since it has no runtime/transport dependency.
- JSON Schema mapper: `int64`/`uint64` as BigInt-strings with distinct signed/unsigned patterns, both using a shared `"42n"` example (avoids API explorers synthesizing an arbitrarily long digit string from the unbounded pattern); bounded/fixed-size arrays; de-duplicated `$ref` components for nested types; unresolvable types degrade to a placeholder instead of aborting the document.
- Add the `rclnodejs-web openapi [config.json]` CLI subcommand: resolves `expose` capabilities to schemas and prints the document to stdout without starting any transport or calling `rclnodejs.init()`.
- Derive `servers` and route `basePath` from the resolved HTTP config, matching the server transport's own fallback and its wildcard-to-`localhost` host display, so generated documents always describe the routes the runtime actually serves and honor a configured `--http-host`.
- Document all three capability kinds, including `GET /capability/subscribe/<name>` as `text/event-stream` — noted as not testable via "Try it out" in API explorers, since the response never completes.
- Extend `--help` usage text with the new subcommand.
- Add `test/test-openapi.js` covering the schema mapper, document assembly, and CLI behavior.

Fix: #1564

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